@@ -18,14 +18,26 @@ be deleted to reconfigure a package from scratch.
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@@ -18,14 +18,26 @@ be deleted to reconfigure a package from scratch.
### Dependencies
### Dependencies
The matrix abstract layer depends on several packages which
The Pinocchio software depends on several packages which
have to be available on your machine.
have to be available on your machine.
- Libraries:
- Libraries:
- eigen3
- eigen3 (version >= 3.0.5)
- urdfdom (version > 0.3.0)
- System tools:
- System tools:
- CMake (>=2.6)
- CMake (>=2.6)
- pkg-config
- pkg-config
- usual compilation tools (GCC/G++, make, etc.)
- usual compilation tools (GCC/G++, make, etc.)
- Python 2.7
- Python 2.7
- Boost python
- Boost python
### Install standalone urdfdom
In order to read urdf files (see http://wiki.ros.org/urdf for the description), one haves to install the urdfdom package which can come either along ROS library or be installed as a standalone library. Next section describes the second procedure.
urdfdom depends on both console_bridge and urdfdom_headers. The installation of both dependencies can be done with the following command in a terminal :
- git clone git://github.com/ros/console_bridge.git && cd console_bridge && mkdir build && cd build && cmake .. && make && sudo make install
- git clone git://github.com/ros/urdfdom_headers && cd urdfdom_headers && mkdir build && cd build && cmake .. && make && sudo make install
Finally, you just need to apply the following command line to install urdfdom library :
- git clone git://github.com/ros/urdfdom && cd urdfdom && mkdir build && cd build && cmake .. && make && sudo make install
